Settings support device, settings support method, and program

Abstract

A technique allows efficient registration of an accurate gripping position of a robot hand with an auxiliary view appearing on a screen in accordance with the robot hand. A user selects a hand type to be used in gripping a gripping target and designates an auxiliary view to be rendered in accordance with the hand. In response to a two-finger hand being selected (step S 11 ), a plane (step S 13 ), a cylinder (step S 14 ), or a rectangular prism (step S 15 ) is rendered based on the view designated by the user (step S 12 ). In response to a suction hand being selected, a plane is rendered (step S 16 ).

The invention claimed is: 
     
       1. A setting assisting apparatus for assisting in setting a pose of a robot hand relative to a gripping target with the gripping target and the robot hand appearing on a screen, the apparatus comprising:
 a pose calculator configured to calculate the pose of the robot hand relative to the gripping target; and 
 an auxiliary view generator configured to generate rendering information for rendering, in accordance with the pose of the robot hand relative to the gripping target, an auxiliary view in contact with the robot hand to aid in setting a pose of the robot hand relative to the gripping target appearing on the screen, the auxiliary view including an index indicating a distance and an angle between the gripping target and the robot hand, 
 wherein the setting assisting apparatus assists in setting the pose of the robot hand relative to the gripping target by the aid of the auxiliary view, which is set according to a shape of the gripping target and rendered on the screen, and the gripping target itself appearing on the screen. 
 
     
     
       2. The setting assisting apparatus according to  claim 1 , wherein
 the auxiliary view generator updates the rendering information for rendering the auxiliary view in accordance with a change in the pose of the robot hand relative to the gripping target calculated by the pose calculator. 
 
     
     
       3. The setting assisting apparatus according to  claim 1 , wherein
 the auxiliary view generator receives a change in a pose of the auxiliary view relative to the robot hand. 
 
     
     
       4. The setting assisting apparatus according to  claim 1 , wherein
 the auxiliary view is rectangular prismatic. 
 
     
     
       5. The setting assisting apparatus according to  claim 1 , wherein
 the auxiliary view is cylindrical. 
 
     
     
       6. The setting assisting apparatus according to  claim 1 , wherein
 the auxiliary view is planar. 
 
     
     
       7. A setting assisting method for assisting in setting a pose of a robot hand relative to a gripping target with the gripping target and the robot hand appearing on a screen, the method comprising:
 calculating the pose of the robot hand relative to the gripping target; and 
 generating rendering information for rendering, in accordance with the pose of the robot hand relative to the gripping target, an auxiliary view in contact with the robot hand to aid in setting a pose of the robot hand relative to the gripping target appearing on the screen, the auxiliary view including an index indicating a distance and an angle between the gripping target and the robot hand, 
 wherein the setting assisting method assists in setting the pose of the robot hand relative to the gripping target by the aid of the auxiliary view, which is set according to a shape of the gripping target and rendered on the screen, and the gripping target itself appearing on the screen. 
 
     
     
       8. The setting assisting method according to  claim 7 , further comprising:
 receiving a change in the pose of the robot hand relative to the gripping target, 
 wherein calculating the pose includes calculating the pose of the robot hand relative to the gripping target based on the received change in the pose of the robot hand, and 
 generating the rendering information includes updating the rendering information to reflect the pose calculated based on the received change in the pose of the robot hand. 
 
     
     
       9. The setting assisting method according to  claim 7 , further comprising:
 receiving a change in a pose of the auxiliary view relative to the robot hand, 
 wherein generating the rendering information includes generating the rendering information based on the received change in the pose of the auxiliary view. 
 
     
     
       10. The setting assisting method according to  claim 7 , wherein
 the auxiliary view is rectangular prismatic. 
 
     
     
       11. The setting assisting method according to  claim 7 , wherein
 the auxiliary view is cylindrical. 
 
     
     
       12. The setting assisting method according to  claim 7 , wherein
 the auxiliary view is planar. 
 
     
     
       13. A non-transitory computer readable medium storing a program for causing a computer to implement a setting assisting method for assisting in setting a pose of a robot hand relative to a gripping target with the gripping target and the robot hand appearing on a screen, the program causing the computer to perform operations comprising:
 calculating the pose of the robot hand relative to the gripping target; and 
 generating rendering information for rendering, in accordance with the pose of the robot hand relative to the gripping target, an auxiliary view in contact with the robot hand to aid in setting a pose of the robot hand relative to the gripping target appearing on the screen, the auxiliary view including an index indicating a distance and an angle between the gripping target and the robot hand, 
 wherein the program for causing the computer to implement the setting assisting method assists in setting the pose of the robot hand relative to the gripping target by the aid of the auxiliary view, which is set according to a shape of the gripping target and rendered on the screen, and the gripping target itself appearing on the screen.